Method Of Off-line Task Planning In Dual Robotic Synergic Drilling And Riveting System

The automatic drilling and riveting technology,represented by robotic drilling and riveting system,is a research hotspot in the field of aircraft flexible automatic assembly.Off-line programming technology is an important guarantee for the practical application of automatic drilling and riveting technology.Domestic robot automatic drilling and riveting technology has gradually put into application,and off-line programming software specially designed for automatic drilling and riveting must be developed.This paper studies the off-line task planning method of the dual robot cooperative drilling and riveting system,and the main work is as follows:(1)The composition and working principle of the dual robot automatic drilling riveting system are expounded.By analysing the application requirements and the working characteristics of the system,the overall design of off-line task planning for dual robot automatic drilling and riveting is put forward.(2)By analysing the needs of process information of the off-line task planning,the process information model based on the digital model of product is established,which can add and manage the assembly process information,and through the feature tree,the object of assembly hole which includes geometry and non geometry parameters can be generated,and become the operation object for the offline task planning.(3)The robot,the rail and the end effector task planning method were designed.To meet the assembly constraints and interference avoidance requirements,the task planning of robot is divided into four levels: terminal position and posture planning,processing sequence planning,path planning,trajectory planning.Through the rail station setting method,the requirements of processing range of robot is fufilled.By adding the station transfer task,the continuous path of processing is achieved;Database of process parameters,tools and fastener specifications were developed to achieve the batch setup of end effector processing parameters.(4)Designed the organization and operation process of off-line task planning software,developed and verified the modules of the software,conducted function verification and realized the docking with simulation function.